CN105612018B - Gear working machine - Google Patents

Gear working machine Download PDF

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Publication number
CN105612018B
CN105612018B CN201480048202.1A CN201480048202A CN105612018B CN 105612018 B CN105612018 B CN 105612018B CN 201480048202 A CN201480048202 A CN 201480048202A CN 105612018 B CN105612018 B CN 105612018B
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CN
China
Prior art keywords
cutter
track
teeth
control part
rotation
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Active
Application number
CN201480048202.1A
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Chinese (zh)
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CN105612018A (en
Inventor
菊池寿真
丸山和孝
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Mitsubishi Heavy Industries Ltd
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Mitsubishi Heavy Industries Ltd
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Publication of CN105612018A publication Critical patent/CN105612018A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F23/00—Accessories or equipment combined with or arranged in, or specially designed to form part of, gear-cutting machines
    • B23F23/006—Equipment for synchronising movement of cutting tool and workpiece, the cutting tool and workpiece not being mechanically coupled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F5/00—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made
    • B23F5/12—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by planing or slotting
    • B23F5/16—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by planing or slotting the tool having a shape similar to that of a spur wheel or part thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F1/00—Making gear teeth by tools of which the profile matches the profile of the required surface
    • B23F1/04—Making gear teeth by tools of which the profile matches the profile of the required surface by planing or slotting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F5/00—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made
    • B23F5/12—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by planing or slotting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F5/00—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made
    • B23F5/12—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by planing or slotting
    • B23F5/18—Making straight gear teeth involving moving a tool relatively to a workpiece with a rolling-off or an enveloping motion with respect to the gear teeth to be made by planing or slotting the tool having the same profile as a tooth of a crown wheel
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F9/00—Making gears having teeth curved in their longitudinal direction
    • B23F9/04—Making gears having teeth curved in their longitudinal direction by planing or slotting with reciprocating cutting tools
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23F—MAKING GEARS OR TOOTHED RACKS
    • B23F9/00—Making gears having teeth curved in their longitudinal direction
    • B23F9/04—Making gears having teeth curved in their longitudinal direction by planing or slotting with reciprocating cutting tools
    • B23F9/07—Making gears having teeth curved in their longitudinal direction by planing or slotting with reciprocating cutting tools having a shape similar to a crown wheel or a part thereof
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/10—Gear cutting
    • Y10T409/101431—Gear tooth shape generating
    • Y10T409/103816—Milling with radial faced tool
    • Y10T409/103975—Process
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/10—Gear cutting
    • Y10T409/101431—Gear tooth shape generating
    • Y10T409/10477—Gear tooth shape generating by relative axial movement between synchronously indexing or rotating work and cutter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/10—Gear cutting
    • Y10T409/101431—Gear tooth shape generating
    • Y10T409/10477—Gear tooth shape generating by relative axial movement between synchronously indexing or rotating work and cutter
    • Y10T409/104929—Crowning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/10—Gear cutting
    • Y10T409/101431—Gear tooth shape generating
    • Y10T409/10477—Gear tooth shape generating by relative axial movement between synchronously indexing or rotating work and cutter
    • Y10T409/105088—Displacing cutter axially relative to work [e.g., gear shaving, etc.]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/10—Gear cutting
    • Y10T409/101431—Gear tooth shape generating
    • Y10T409/10477—Gear tooth shape generating by relative axial movement between synchronously indexing or rotating work and cutter
    • Y10T409/105088—Displacing cutter axially relative to work [e.g., gear shaving, etc.]
    • Y10T409/105247—Using gear shaper-cutter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/10—Gear cutting
    • Y10T409/101431—Gear tooth shape generating
    • Y10T409/106519—Using reciprocating or oscillating cutter
    • Y10T409/107155—Rectilinearly reciprocating cutter
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T409/00—Gear cutting, milling, or planing
    • Y10T409/10—Gear cutting
    • Y10T409/109063—Using reciprocating or oscillating cutter

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gear Processing (AREA)
  • Milling Processes (AREA)

Abstract

A kind of gear working machine, possesses cutter (15), cutter (15) is set to carry out the spindle drive motor (10) of stroke action along major axes orientation via crank mechanism (13) and main shaft (16), and the motor control part (10) being controlled to the anglec of rotation of spindle drive motor (10), wherein, the gear working machine possesses the teeth axle motor (12) for making cutter (15) be moved along teeth direction of principal axis via linkage (four section linkages (14)), motor control part (10) controls the anglec of rotation of teeth axle motor (12) based on the anglec of rotation of spindle drive motor (11), thus, it is possible to provide a kind of gear working machine for controlling teeth action exactly corresponding to desired shapes such as the cydariform or the tapers that are cut gear.

Description

Gear working machine
Technical field
The present invention relates to gear working machine.
Background technology
In the conventional gear working machine based on gear shaper, by spindle drive motor, along the above-below direction of instrument (major axes orientation) carries out stroke action (straight reciprocating motion), also, by the cam mechanism synchronous with the spindle drive motor, On the direction orthogonal with main shaft, it is close or moved from the i.e. teeth of the remote motion of gear is cut to gear is cut to enter enforcement instrument Make.
Figure 13 is the skeleton diagram for the cam mechanism for illustrating conventional gear working machine.As shown in the drawing, conventional gear Processing equipment has by train to be connected (diagram is omitted) and mechanically synchronize the cam of rotation with spindle drive motor 101, the rotation of cam lever 102 and cam 101 interlocks, by the action of cam lever 102, via being configured at the four of cam lever 102 Linkage 104 is saved, cutter 105 carries out teeth action.
Figure 14 is the schematic diagram for the track for illustrating the cutter in conventional gear working machine, the solid arrow table in the figure Show the track of cutter.As shown in the drawing, the cutter 105 in conventional gear working machine is in cutting process (top dead centre → stop down Point) it is processed, teeth action is carried out returning to process (lower dead center → top dead centre), thus prevents the cutter in process is returned 105 interference with being cut gear 21.
Citation
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2004-154921 publications
The content of the invention
The invention problem to be solved
The teeth of cutter in conventional gear working machine is acted due to the shape according to cam to determine, therefore is turned into Unified track, cydariform processing or taper processing described later can not be tackled.And cam also can not be changed simply.
It is above-mentioned that patent document 1 discloses a kind of driving force substituted needed for teeth is mechanically had by spindle drive motor Situation, and the technology from the independent teeth axle motor of spindle drive motor is set, i.e., teeth is acted and carry out NC controls The gear working machine of type.The teeth action of the gear working machine is applied not only to prevent the cutter in return process with being cut The interference of gear is cut, and is used in the processing of the cydariform in cutting process and taper processing.
Figure 15 is to illustrate to act teeth the figure that the cydariform in the gear working machine for the type for carrying out NC controls is processed, (a) schematic diagram of the track of cutter when representing explanation cydariform processing, what (b) represented to implement cydariform processing is cut gear Stereogram.It should be noted that in the figure, the solid arrow of (a) represents the track of cutter, the single dotted broken line of (b) represents not Implement the shape for being cut gear in the case of cydariform processing.
As shown in Figure 15 (a), in cutting process, the track of cutter 105 is set to carry out teeth action in arc-shaped, thus As shown in Figure 15 (b), cydariform processing can be implemented to being cut gear 21.
Figure 16 is to illustrate to act teeth the figure that the taper in the gear working machine for the type for carrying out NC controls is processed, (a) schematic diagram of the track of cutter when representing explanation taper processing, what (b) represented to implement taper processing is cut gear Stereogram.It should be noted that in the figure, the solid arrow of (a) represents the track of cutter, the single dotted broken line of (b) represents cone Shape amount.
As shown in Figure 16 (a), in cutting process, by making the track of cutter 105 obliquely carry out teeth action, As shown in Figure 16 (b), taper processing can be implemented to being cut gear 21.
However, above-mentioned patent document 1 without narration to how controlling teeth axle motor, therefore correspond to and be cut gear Desired shape and the method that is controlled exactly and indefinite.
Thus, in the present invention, and it is an object of the present invention to provide it is a kind of correspond to be cut gear desired shape and exactly Control the gear working machine of teeth action.
Means for solving the problems
The gear working machine for solving the first invention of above-mentioned problem possesses cutter, makes this via crank mechanism and main shaft The electricity that cutter carries out the spindle drive motor of stroke action and be controlled to the anglec of rotation of the spindle drive motor along major axes orientation Motivation control unit, it is characterised in that the gear working machine possesses via linkage and makes the cutter along teeth axle side To the teeth axle motor of motion, the motor control part controls the shovel based on the anglec of rotation of the spindle drive motor The anglec of rotation of tooth axle motor.
The gear working machine of the second invention of above-mentioned problem is solved using the gear working machine of above-mentioned first invention as base Plinth, it is characterised in that in the anglec of rotation for setting the spindle drive motor as θ, the major axes orientation is y-axis direction, the teeth When direction of principal axis is x-axis direction, the motor control part is by the track on the x- θ coordinates of the cutter and the rail on y- θ coordinates Mark obtains the track of the cutter on x-y, and the cutter is obtained by the track of the cutter on the x-y (angle of inclination of cutter is equal with the angle of inclination of cutterhead (not shown) at angle of inclination.It is same as below), by the inclination angle Degree obtains the output angle of the linkage, the input angle of the linkage is obtained by the output angle, so as to control Make the anglec of rotation of the teeth axle motor.
The gear working machine of the 3rd invention of above-mentioned problem is solved using the gear working machine of above-mentioned second invention as base Plinth, it is characterised in that the motor control part so that track on the x- θ coordinates of the cutter in teeth region into Mode for universal cam curve is controlled.
Solve the gear working machine of the 4th invention of above-mentioned problem with above-mentioned second or the 3rd invention gear-shaping machine Based on tool, it is characterised in that the motor control part is by the scope of the machining area in the θ and the teeth region Scope is divided into two parts respectively, and the track of the cutter on the x- θ coordinates is controlled for respectively scope after segmentation.
Invention effect
According to the gear working machine of the present invention, it can correspond to and be cut the desired shape of gear and control exactly Teeth acts.Thereby, it is possible to tackle cydariform processing and taper processing, internal tooth processing can also apply to.
Brief description of the drawings
Fig. 1 is the skeleton diagram of the gear working machine of embodiments of the invention 1.(a) teeth axle system is shown, (b) shows Axis system is gone out.
Fig. 2 is the block diagram for the structure for illustrating motor control part.
Fig. 3 is the flow chart for the action for illustrating motor control part.
Fig. 4 is track (solid line) and the speed (dotted line) for being illustrated respectively in the cutter marked and drawed on y- θ coordinates and v- θ coordinates Coordinate diagram.
Fig. 5 is anglec of rotation θ and machining area and the corresponding pass in teeth region in the rotation for illustrate spindle drive motor The coordinate diagram of system.
Fig. 6 is the coordinate diagram of one for representing universal cam curve.
Fig. 7 is the coordinate diagram of the track of cutter for representing to implement to mark and draw on the x- θ coordinates in the case of cydariform processing.
Fig. 8 is the coordinate diagram of the track of cutter for representing to implement to mark and draw on the x- θ coordinates in the case of taper processing.
Fig. 9 is that the track of the cutter in the case of implementation cydariform processing is marked and drawed into the coordinate diagram in x-y.
Figure 10 is that the track of the cutter in the case of implementation taper processing is marked and drawed into the coordinate diagram in x-y.
Figure 11 is the schematic diagram for the relation for representing x-axis direction displacement, y-axis direction displacement and angle of inclination Δ Ψ.
Figure 12 is the skeleton diagram for the reference position for representing four section linkages.
Figure 13 is the skeleton diagram for the cam mechanism for illustrating conventional gear working machine.
Figure 14 is the schematic diagram for the track for illustrating the cutter in conventional gear working machine.
Figure 15 is to illustrate to act teeth in the figure that the cydariform of the gear working machine for the type for carrying out NC controls is processed.(a) The schematic diagram that the track of cutter when representing to process cydariform illustrates, (b) represent to implement being cut after cydariform is processed The stereogram of gear.
Figure 16 is to illustrate to act teeth in the figure that the taper of the gear working machine for the type for carrying out NC controls is processed.(a) The schematic diagram that the track of cutter when representing to process taper illustrates, (b) represent to implement being cut after taper is processed The stereogram of gear.
Embodiment
Hereinafter, the gear working machine of the present invention is illustrated by embodiment using accompanying drawing.
Embodiment 1
The gear working machine of embodiments of the invention 1 controls teeth to act using NC.On embodiments of the invention 1 Gear working machine, illustrated using Fig. 1 (a) (b).
Fig. 1 is the skeleton diagram of the gear working machine of embodiments of the invention 1, and (a) shows teeth axle system, and (b) shows Axis system is gone out.As shown in the drawing, the present apparatus possesses motor control part 10, spindle drive motor 11, crank mechanism (sliding block song Axis mechanism) 13, teeth axle motor 12, four save linkage 14, cutter 15 and main shaft 16.
As shown in Fig. 1 (b), above-mentioned spindle drive motor 11 is to cutter by rotary motion via crank mechanism 13 and main shaft 16 15 servomotors for transmitting and making cutter 15 carry out stroke action along the y-axis direction.Moreover, crank mechanism 13 possesses crank arm 13aAnd connecting rod 13b.It should be noted that above-mentioned y-axis direction refers to major axes orientation, and below, the teeth axle orthogonal with major axes orientation Direction is set to x-axis direction.
As shown in Fig. 1 (a), above-mentioned teeth axle motor 12 is by the way that rotary motion is saved into linkages 14 to knife via four The servomotor that tool 15 transmits and makes cutter 15 carry out teeth action along the x-axis direction.It should be noted that Fig. 1 (a) four sections The L of linkage 141、L2、L3、L4Fixed connecting rod, input connecting rod, the length for linking connecting rod, exporting connecting rod are represented respectively.Here, Input connecting rod (length L2Connecting rod) interlocked with the rotation of teeth axle motor 12.
Above-mentioned motor control part 10 is separately to control the rotation of spindle drive motor 11 and teeth axle motor 12 The structure of angle (rotary motion).Hereinafter, it is described in detail for motor control part 10.
Fig. 2 is the block diagram for the structure for illustrating motor control part 10.As shown in the drawing, motor control part 10 possesses main shaft Default portion 31, y-axis direction track calculating section 32, teeth axle system input unit 33, anglec of rotation dispenser 34, x-axis direction Track calculating section 36, cutterhead angle of inclination calculating section 37 and teeth axle motor input angle in track calculating section 35, x-y Spend instruction department 38.
Above-mentioned axis system configuration part 31 is to input the value for the facewidth B (reference picture 14) for being cut gear 21 and be based on the tooth Wide B calculates crank arm 13aLength LarmStructure.Also, by crank arm 13aLength LarmAnd machinery set in advance is admittedly Some constants are connecting rod 13bLength LconData exported to y-axis direction track calculating section 32.
Above-mentioned y-axis direction track calculating section 32 is asked based on the data inputted from axis system configuration part 31 by anglec of rotation θ Go out the displacement in the y-axis direction of cutter 15, carry out the control of the rotary motion of spindle drive motor 11.In other words, asked by anglec of rotation θ The displacement for going out the y-axis direction of cutter 15 refers to obtain the track on the y- θ coordinates of cutter 15.
Fig. 4 is the coordinate diagram of the track (and speed) of cutter for representing to mark and draw on y- θ coordinates (and v- θ coordinates).Cutter Track on 15 y- θ coordinates is that y=f (θ) such as the shown in solid of the coordinate diagram is similar to cosine curve.Also, y-axis direction rail Mark calculating section 32 exports y=f (θ) data to track calculating section 36 on x-y.
Above-mentioned teeth axle system input unit 33 inputs teeth amount R, cydariform according to the shape for being cut gear 21 of processing Measure R1And taper amount R2Data, and the data of input are exported to x-axis direction track calculating section 35.But teeth amount R Fixed value can be redefined for.It should be noted that R, R1、R2The entirely displacement in x-axis direction.
In addition, the fixation connecting rod of the section linkage 14 of the input of teeth axle system input unit 33 four, input connecting rod, link company Bar, the respective length L for exporting connecting rod1、L2、L3、L4Data, the data of input refer to teeth axle motor input angle Portion 38 is made to export.
Above-mentioned anglec of rotation dispenser 34 sets the anglec of rotation θ and cutting process in a rotation of spindle drive motor 11 (machining area) and the corresponding relation for returning to process (teeth region).First, as shown in figure 5, machining area is divided into two Point, the scope of corresponding anglec of rotation θ respectively is set to θ 1, θ 2, teeth region is also divided into two parts, by corresponding to difference Anglec of rotation θ scope is set to θ 3, θ 4.
However, as indicated with broken lines in fig. 4, the y-axis direction speed v of the cutter 15 in the range of θ=0~180deg. is upper It is respectively zero under θ=0deg. of stop and θ=180deg. of lower dead center, turns into maximum under θ=90deg..Due to cutter 15 Y-axis direction speed v difference and processing efficiency changes, therefore near upper and lower stop, processing efficiency declines.
Therefore, in the present embodiment, 90 ± 60deg. is set to θ corresponding with machining area scope (Fig. 4 oblique line portion Point).Also, θ=30~90deg. is set to θ 1, θ=90~150deg. is set to θ 2.
Spindle drive motor 11 one rotation in anglec of rotation θ under, except anglec of rotation θ 1 corresponding with machining area, The anglec of rotation outside θ 2 turns into anglec of rotation θ 3 corresponding with teeth region, θ 4.Here, θ=150~270deg. is set to θ 4, θ=270~30deg. is set to θ 3.
It should be noted that in above-mentioned, anglec of rotation θ is set as θ 1, θ 2 in machining area, is set in teeth region Being set to θ 3, θ 4, this amounts to 4 scopes, but 2 models of each 1 total can also be for example set in machining area and teeth region Enclose.
Also, anglec of rotation dispenser 34 is by the anglec of rotation in the one of the spindle drive motor 11 set as described above rotation θ exports with the data of machining area and the corresponding relation in teeth region to x-axis direction track calculating section 35.
Above-mentioned x-axis direction track calculating section 35 is based on inputting from teeth axle system input unit 33 and anglec of rotation dispenser 34 Data so that the mode that the track on the x- θ coordinates of cutter 15 in teeth region (θ 3, θ 4) turns into universal cam curve is entered Row setting.
Generally, teeth amount R and cydariform amount R1And taper amount R2Displacement compared to x-axis direction increases.Thus, it is contemplated that cutter 15 situation to run at high speed, the track of the cutter 15 in teeth region need with deceleration interval smoothly to link acceleration area. Therefore, the track setting for the cutter 15 marked and drawed on x- θ coordinates turns into universal cam curve, smooth and continuous thus, it is possible to realize NC is controlled.
There are various curves as table 1 below in universal cam curve, as Fig. 6 shows one, pass through intrinsic ginseng Number can carry out the definition relative to time T displacement S, speed V and the respective curve of acceleration A.But due to having respectively Merits and demerits, therefore selected according to application target and set appropriate curve.
[table 1]
In addition, x-axis direction track calculating section 35 is based on defeated from teeth axle system input unit 33 and anglec of rotation dispenser 34 The data entered, the track on the x- θ coordinates of the cutter 15 in machining area (θ 1, θ 2) is set, is set using cubic interpolation with above-mentioned The track of cutter 15 in fixed teeth region links, combination.
In machining area, in the case where implementing cydariform processing, in the track of x- θ coordinate subscripts plotter cutter 15, with tooth The track of wide B scope is set as arc-shaped, to meet desired drum-like shape.The radius r of the circular arccBased on drum Shape amount R1And facewidth B is set.Specifically, calculated by following formula (1).
rc={ (0.5B)2+R1 2}/2·R1…(1)
By the track on the x- θ coordinates of the cutter 15 in the machining area so calculated (θ 1, θ 2) and above-mentioned teeth area The track of cutter 15 in domain links, after combination, turns into curve as shown in Figure 7.
On the other hand, in machining area, in the case where implementing taper processing, in order to meet desired taper processing or Angle of taper, in the track of x- θ coordinate subscripts plotter cutter 15, the track setting of facewidth B scope is turned into inclined straight line.
By the track on the x- θ coordinates of the cutter 15 in the machining area so set (θ 1, θ 2) and above-mentioned teeth area The track of cutter 15 in domain links, after combination, turns into curve as shown in Figure 8.
Also, x-axis direction track calculating section 35 is by the data of the track on the x- θ coordinates of the above-mentioned cutter 15 obtained to x- Track calculating section 36 exports on y-coordinate.
Track calculating section 36 is based on the data inputted from x-axis direction track calculating section 35 on above-mentioned x-y, by main shaft electricity The track continuous plotting of cutter 15 in anglec of rotation θ=0~360deg. of motivation 11 obtains x-y on x-y On cutter 15 track be actual cutter 15 track, the data of the track are defeated to cutterhead angle of inclination calculating section 37 Go out.
Fig. 9 is that the track of the cutter in the case of implementation cydariform processing is marked and drawed into the coordinate diagram in x-y.Figure 10 is The coordinate diagram in x-y is marked and drawed into the track of cutter in the case of implementation taper processing.It should be noted that Fig. 9,10 In arrow represent cutter moving direction.For example, in the range of anglec of rotation θ=0~360deg., (x is marked and drawedi, yi)(i =0 ..., 360).The track of cutter 15 on the x-y being so made is as such actual cutter 15 shown in Fig. 9,10 Track.
Above-mentioned cutterhead angle of inclination calculating section 37 is by (the x on the x-y of above-mentioned cutter 15i, yi) obtain every bent axle Arm 13aAnglec of rotation θ cutterhead (diagram omit) angle of inclination, and the angle of inclination Δ Ψ that will be obtainedi(i=0 ..., 360) data export to teeth axle motor input angle instruction department 38.
That is, the section linkage 14 of teeth axle motor 12 and four that is moved through of the cutter 15 in actual x-axis direction is realized. As shown in Fig. 1 (a), the cutterhead (diagram is omitted) including being provided with the main shaft of cutter 15 is with fulcrum 14aCentered on swing (inclination) freely.Output connecting rod (the length L in Fig. 1 (a) of four section linkages 144Connecting rod) with cutterhead all the time in just Friendship relation, when it is Δ Ψ to export the variable quantity of the anglec of rotation of connecting rod, the angle of inclination of cutterhead also turns into Δ Ψ.
Figure 11 is the schematic diagram for the relation for representing x-axis direction displacement, y-axis direction displacement and angle of inclination Δ Ψ.Such as Shown in the figure, the angle of inclination of cutterhead can be calculated by following formula (2).
Δ Ψ=f (θ)=tan-1(x/y)…(2)
It should be noted that because the angle of inclination of cutterhead is equal with the angle of inclination of cutter 15, therefore in cutterhead In angle of inclination calculating section 37, the angle of inclination of cutterhead can not be obtained as described above, and obtain the inclination angle of cutter 15 Degree.
Above-mentioned teeth axle motor input angle instruction department 38 is based on the number inputted from cutterhead angle of inclination calculating section 37 According to the output angle Ψ of four section linkages 14 being obtained by the angle of inclination Δ Ψ of cutterhead, by output angle Ψ inverse operations Input angle δ (reference picture 1 (a)).
The output angle Ψ of four section linkages 14 can be calculated by following formula (3).
Ψ=Ψ0-ΔΨ…(3)
Figure 12 is the skeleton diagram for the reference position for representing four section linkages 14.As shown in the drawing, in inclining cutter 15 When the state that rake angle (angle of inclination of cutterhead) is zero is set to reference position, above-mentioned Ψ0Refer to defeated at the reference position Go out angle (initial output angle).It should be noted that initial output angle Ψ0Can by teeth axle motor 12 relative to Fulcrum 14aInstallation site relation and each connecting rod length L1、L2、L3、L4, and geometrically obtaining.
The output angle Ψ of four section linkages 14 is the length L of input angle δ and each connecting rod1、L2、L3、L4Function. Therefore, it is set to Ψi=f (δi, L1, L2, L3, L4) (i=0 ..., 360).Also, for input angle δi, solve the inverse letter of the formula Number, is set to δi=f-1(Ψi, L1, L2, L3, L4) (i=0 ..., 360).
Here, the L of mechanical intrinsic constant1~L4Value inputted by teeth axle system input unit 33.Moreover, output angle Spend ΨiIt is according to crank arm 13aAnglec of rotation θ and the value that determines, therefore above-mentioned δi=f-1(Ψi, L1, L2, L3, L4) (i= 0 ..., 360) δ (θ)=f can be set to-1(Ψ (θ)), by the formula, calculate every crank arm 13aThe rotation of (spindle drive motor 11) The input angle δ of four section linkages 14 of angle, θ.
In addition, teeth axle motor input angle instruction department 38 is to the output order value U of teeth axle motor 12i.The instruction Value UiCalculated by following formula (4).
Ui=Δ δ (θ)=δ (θ)-δ0(i=0 ..., 360) ... (4)
Here, above-mentioned δ0Refer to the input angle (initial input angle) at the reference position shown in Figure 12.Need to illustrate , initial input angle δ0Can be by teeth axle motor 12 relative to fulcrum 14aInstallation site relation and each connecting rod Length L1、L2、L3、L4, and geometrically obtaining.
That is, the variation delta δ of the anglec of rotation of connecting rod is inputtediAs to the command value U of teeth axle motor 12i。
Above is the structure of motor control part 10.Hereinafter, motor control part 10 is illustrated using Fig. 3 flow chart Action.
In step sl, according to crank arm 13aThe anglec of rotation be spindle drive motor 11 anglec of rotation θ (θ=0~ 360deg.), crank arm 13aLength Larm, connecting rod 13bLength Lcon, obtain the position in the y-axis direction of cutter 15.In main shaft Above-mentioned L is set in default portion 31arm、LconValue, thus, in y-axis direction track calculating section 32, by y=f (θ, Larm、 Lcon) y=f (θ) is set to, and the track on the y- θ coordinates of Fig. 4 such cutter 15 shown in solid can be obtained.Pass through the step Rapid S1, motor control part 10 carry out the control of spindle drive motor 11.
In step s 2, in teeth axle system input unit 33, set according to the shape for being cut gear 21 of processing Teeth amount R, cydariform amount R1And taper amount R2。
In step s3, the anglec of rotation θ in being rotated the one of the setting spindle drive motor 11 of anglec of rotation dispenser 34 With machining area and the corresponding relation in teeth region.As shown in figure 5, machining area is divided into two parts, by corresponding to difference Anglec of rotation θ scope is set to θ 1, θ 2, and teeth region is also divided into two parts, by the scope of anglec of rotation θ corresponding to difference It is set to θ 3, θ 4.In the present embodiment, θ=30~90deg. is set to θ 1, and θ=90~150deg. is set to θ 2, and θ=150~ 270deg. is set to θ 4, and θ=270~30deg. is set to θ 3.
In step s 4, in x-axis direction track calculating section 35, by the x- θ coordinates of the cutter 15 in teeth region (θ 3, θ 4) On track setting turn into universal cam curve.
In step s 5, in x-axis direction track calculating section 35, the x- θ of the cutter 15 of setting machining area (θ 1, θ 2) are sat The track put on, linked using cubic interpolation with the track of the cutter 15 in the teeth region set in step S4, combined.Implementing In the case that cydariform is processed, turn into curve as shown in Figure 7, in the case where implementing taper processing, turn into as shown in Figure 8 Curve.
By above-mentioned steps S2~5, the letter of the displacement in the x-axis direction of the cutter 15 in machining area and teeth region as θ Number, can be defined by x=f (θ).
In step s 6, the track calculating section 36 on x-y, the spindle drive motor 11 that will be defined by step S1~5 Anglec of rotation θ=0~360deg. in the track of cutter 15 continuously mark and draw on x-y, obtain actual cutter 15 Track.For example, in anglec of rotation θ=0~360deg. scope, (the x per anglec of rotation θ is marked and drawedi, yi) (i=0 ..., 360), thus as the track of such actual cutter 15 shown in Fig. 9,10.
In the step s 7, in cutterhead angle of inclination calculating section 37, sat according to the x-y for the cutter 15 obtained in step s 6 (the x put oni, yi), obtain every crank arm 13 using above-mentioned formula (2)aThe anglec of rotation θ angle of inclination of cutterhead be four sections The output angle Δ Ψ of linkage 14i(i=0 ..., 360).
In step s 8, the output angle Ψ of four section linkages 14 is obtained by the angle of inclination Δ Ψ of cutterhead, by defeated Go out angle Ψ inverse operation input angle δ (reference picture 1 (a)).
That is, in teeth axle motor input angle instruction department 38, first, according to teeth axle motor 12 relative to fulcrum 14aInstallation site relation and each connecting rod length L1、L2、L3、L4, and geometrically obtaining initial output angle Ψ0, connect down Come, output angle Ψ is obtained by above-mentioned formula (3).Moreover, as Ψi=f (δi, L1, L2, L3, L4), for input angle δi, ask The inverse function of the formula is solved, as δi=f-1(Ψi, L1, L2, L3, L4)。
Here, teeth axle motor input angle instruction department 38 inputted by teeth axle system input unit 33 it is mechanical intrinsic normal Number is L1~L4Value.L is inputted by teeth axle system input unit 331~L4Value.Moreover, output angle ΨiIt is according to crank arm 13aThe anglec of rotation θ of (spindle drive motor 11) and the value determined, therefore δ (θ)=f can be set to-1(Ψ (θ)), is calculated by the formula Per crank arm 13aThe input angle δ of the anglec of rotation θ of (spindle drive motor 11) four section linkages 14.Above is step S8.
In step s 9, in teeth axle motor input angle instruction department 38, according to teeth axle motor 12 relative to branch Point 14aInstallation site relation and each connecting rod length L1、L2、L3、L4, and geometrically obtaining initial output angle δ0, connect Get off, command value U is calculated by above-mentioned formula (4)i, moreover, by command value UiExported to teeth axle motor 12.
By above-mentioned steps S1~9, motor control part 10 can carry out appropriate instruction to teeth axle motor 12.
The gear working machine of embodiments of the invention 1 is this concludes the description of, in other words, the present apparatus is that possess cutter 15, warp Cutter 15 is set to carry out the spindle drive motor 10 of stroke action and to main shaft electricity along major axes orientation by crank mechanism 13 and main shaft 16 The gear working machine for the motor control part 10 that the anglec of rotation of motivation 10 is controlled, the present apparatus possess via linkage (four section linkage 14) and the teeth axle motor 12 for making cutter 15 be moved along teeth direction of principal axis, motor control part 10 are based on The anglec of rotation of spindle drive motor 11 controls the anglec of rotation of teeth axle motor 12.
In addition, the present apparatus can be following structure：In the anglec of rotation for setting spindle drive motor 11 as θ, major axes orientation y Direction of principal axis, when the teeth direction of principal axis is x-axis direction, motor control part 10 is by the track on the x- θ coordinates of cutter 15 and y- θ The track of the cutter 15 on x-y is obtained in track on coordinate, and cutter 15 is obtained by the track of the cutter 15 on x-y Angle of inclination Δ Ψ, the output angle Ψ of linkage is obtained by angle of inclination Δ Ψ, asked by the output angle Ψ of linkage Go out the input angle δ of linkage, thus control the anglec of rotation of teeth axle motor 12.
In addition, the present apparatus can be following structure：Motor control part 10 is so that the x- θ of the cutter 15 in teeth region The mode that track on coordinate turns into universal cam curve is controlled.
In addition, the present apparatus can be following structure：Motor control part 10 is by the model of the machining area in anglec of rotation θ Enclose and the scope in teeth region is divided into two parts respectively, the cutter on x- θ coordinates is controlled for respectively scope after segmentation 15 track.
By said structure, the present apparatus, which can correspond to, to be cut the desired shape of gear and controls teeth to move exactly Make.Thereby, it is possible to tackle cydariform processing and taper processing, internal tooth processing can also apply to.
Industrial applicability
The present invention is preferably as gear working machine.
Label declaration
10 motor control parts
11 spindle drive motors
12 teeth axle motor
13rd, 103 crank mechanism
13aCrank arm
13bConnecting rod
14th, 104 4 section linkage
14aFulcrum
15th, 105 cutter
16 main shafts
21 are cut gear
31 axis system configuration parts
32 y-axis direction track calculating sections
33 teeth axle system input units
34 anglec of rotation dispensers
35 x-axis direction track calculating sections
Track calculating section on 36 x-ies
37 cutterhead angle of inclination calculating sections
38 teeth axle motor input angle calculating sections
39 input angle instruction departments
101 cams
102 cam levers

Claims (6)

1. a kind of gear working machine, possess cutter, the cutter is entered every trade along major axes orientation via crank mechanism and main shaft The spindle drive motor of journey action and the motor control part being controlled to the anglec of rotation of the spindle drive motor, its feature exist In,
It is electronic that the gear working machine possesses the teeth axle for making the cutter be moved along teeth direction of principal axis via linkage Machine,
The motor control part controls the rotation of the teeth axle motor based on the anglec of rotation of the spindle drive motor Angle,
In the anglec of rotation for setting the spindle drive motor as θ, the major axes orientation is y-axis direction, and the teeth direction of principal axis is x-axis During direction, the motor control part is obtained x-y by the track on the x- θ coordinates of the cutter and the track on y- θ coordinates and sat The track for the cutter put on, the angle of inclination of the cutter is obtained by the track of the cutter on the x-y, by The output angle of the linkage is obtained at the angle of inclination, and the input angle of the linkage is obtained by the output angle Degree, so as to control the anglec of rotation of the teeth axle motor.
2. gear working machine according to claim 1, it is characterised in that
The motor control part is so that the track on the x- θ coordinates of the cutter in teeth region turns into universal cam The mode of curve is controlled.
3. gear working machine according to claim 2, it is characterised in that
The scope of the scope of machining area in the θ and the teeth region is divided into two by the motor control part respectively Part, the track of the cutter on the x- θ coordinates is controlled for respectively scope after segmentation.
4. gear working machine according to claim 1, it is characterised in that
With the shape for being cut gear of processing accordingly to the motor control part input the x-axis direction teeth amount, Each data of cydariform amount and taper amount, the data of the motor control part based on input are sat to obtain the x- θ of the cutter The track put on.
5. gear working machine according to claim 4, it is characterised in that
For machining area, the motor control part sets the x- of the cutter based on the cydariform amount or the taper amount Track on θ coordinates,
For teeth region, the motor control part is based on the teeth amount come the track on the x- θ coordinates by the cutter Universal cam curve is set to,
The motor control part using cubic interpolation come the track on the x- θ coordinates by the cutter of the machining area with Track on the x- θ coordinates of the cutter in the teeth region links and combined.
6. gear working machine according to claim 5, it is characterised in that
The scope of the scope of machining area in the θ and the teeth region is divided into two by the motor control part respectively Part, the track of the cutter on the x- θ coordinates is controlled for respectively scope after segmentation.
CN201480048202.1A 2013-09-06 2014-08-22 Gear working machine Active CN105612018B (en)

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JP2013184615A JP5693685B2 (en) 2013-09-06 2013-09-06 Gear processing machine
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PCT/JP2014/071950 WO2015033799A1 (en) 2013-09-06 2014-08-22 Gear-cutting machine

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CN105612018A (en) 2016-05-25
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US9868169B2 (en) 2018-01-16
WO2015033799A1 (en) 2015-03-12
US20160193676A1 (en) 2016-07-07
JP5693685B2 (en) 2015-04-01
TW201527018A (en) 2015-07-16
KR20160040619A (en) 2016-04-14
TWI597115B (en) 2017-09-01

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